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US7171290B2 - Method and device for controlling satellite attitude and steering using a gyrodyne cluster - Google Patents

Method and device for controlling satellite attitude and steering using a gyrodyne cluster Download PDF

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Publication number
US7171290B2
US7171290B2 US10/482,031 US48203103A US7171290B2 US 7171290 B2 US7171290 B2 US 7171290B2 US 48203103 A US48203103 A US 48203103A US 7171290 B2 US7171290 B2 US 7171290B2
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configuration
actuators
angular momentum
satellite
cluster
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US20040167683A1 (en
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Kristen Lagadec
Ange Defendini
Julien Morand
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Airbus Defence and Space SAS
Splashpower Ltd
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EADS Astrium SAS
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Assigned to EADS ASTRIUM SAS reassignment EADS ASTRIUM SAS ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: DEFENDINI, ANGE, MORAND, JULIEN, LAGADEC, KRISTEN
Publication of US20040167683A1 publication Critical patent/US20040167683A1/en
Assigned to SPLASHPOWER LIMITED reassignment SPLASHPOWER LIMITED ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: BEART, PILGIM GILES, CHENG, LILY KA-LAI, HAY, JAMES WESTWOOD
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B64—AIRCRAFT; AVIATION; COSMONAUTICS
    • B64G—COSMONAUTICS; VEHICLES OR EQUIPMENT THEREFOR
    • B64G1/00—Cosmonautic vehicles
    • B64G1/22—Parts of, or equipment specially adapted for fitting in or to, cosmonautic vehicles
    • B64G1/24—Guiding or controlling apparatus, e.g. for attitude control
    • B64G1/244—Spacecraft control systems

Definitions

  • the present invention relates to methods and apparatuses enabling the attitude of a satellite to be controlled by controlling the orientation of the axis of rotation of the spinners of gyroscopic actuators or “gyrodynes” in a cluster of gyroscopic actuators mounted in the satellite.
  • Gyrodynes or gyroscopic actuators also known as “control moment gyros” (CMG) have a wheel or “spinner” mounted on a support referred to as “gimbals” and steerable on the platform of the satellite by a motor to turn about at least one axis that is orthogonal to the axis of rotation of the spinner.
  • CMG control moment gyros
  • a cluster of gyrodynes comprises at least three gyrodynes, or for control about two axes it comprises at least two gyrodynes.
  • at least four gyrodynes are used to provide redundancy.
  • the gyrodyne cluster constitutes an inertial actuator which can be controlled to apply a torque imparting an angular speed profile to the satellite platform as specified by uploading from the ground or by performing calculations on board.
  • a control system determines the torque to be applied and deduces therefrom a speed that should be applied to the gimbals of the gyrodynes.
  • a conventional steering method consists in inverting equation (1) to obtain the reference speeds c to be given to the gyrodynes.
  • the principle of such control is given, for example, in the above-mentioned French patent application or in U.S. Pat. No. 6,131,056.
  • French patent application No. 98/14548 describes and claims a method of controlling the attitude of a satellite enabling the problem of singularities to be avoided, i.e. avoiding entering into configurations in which it is impossible to obtain torque in a determined direction, by controlling a direct passage from an initial configuration to a final configuration.
  • the architecture described in patent application Ser. No. 98/14548 comprises a cluster of at least four gyrodynes having respective spinners mounted on respective gimbals, themselves mounted to turn relative to the satellite platform about gimbal orientation axes that are all different.
  • That configuration presents the advantage in principle of having maximum isotropy when the four gimbal axes are directed along the diagonals of a cube.
  • it suffices to flatten the pyramid whose edges are orthogonal to the axes of the gimbals.
  • the pyramid-shaped architecture presents various drawbacks.
  • the capacity envelope presents concave portions: with a flattened pyramid it is not possible to independently adjust the capacities along the two axes of the pyramid base. The loss of one of the actuators leads to an agility envelope that is very asymmetrical and has a severe effect on agility.
  • the invention provides for the use of a satellite having a cluster of at least four gyroscopic actuators having respective spinners mounted on gimbals that are steerable about axes that are parallel to one or other of only two different directions that are fixed relative to the satellite, and to adopt an original method of control that makes it possible to avoid entering into singular configurations while controlling attitude.
  • the invention provides a method of controlling the attitude of such a satellite, the method comprising the steps of:
  • the method being characterized by the step of performing the calculation of the new orientations by applying a constraint of seeking a cluster configuration remote from singular configurations by sharing between the two groups of actuators that component of the total angular momentum of the cluster which is perpendicular to both of said two directions.
  • the criterion adopted for the remoteness of a configuration of the angles of the gimbals in the cluster from a singular configuration is the product of two simpler criteria that apply separately to each of the two groups of actuators.
  • the criterion for remoteness between a configuration of gimbal angles and a singular configuration may be selected as:
  • Searching a final configuration that is remote from singularities can enable a correspondence table to be established between the various angular momentums of the cluster needed for the various maneuvers of the satellite and the associated respective optimum cluster configurations.
  • the search for a final configuration remote from singularities leads directly and in analytic manner to an optimum cluster configuration that provides the cluster angular momentum demand needed for maneuvering the satellite.
  • the criterion for remoteness between a configuration of gimbal angles and a singular configuration may be defined in such a manner as to cancel when one of the angles formed between any two of the three angular momentum vectors carried by the three actuators is zero and so as to reach its maximum when said angles are close to 120°.
  • a search is made for a final configuration that is remote from singularities as soon as it is detected that the remoteness between the current configuration and the associated singularity has dropped below a predetermined threshold.
  • the search for a final configuration that is remote from the singularities can be implemented in advance, on the basis of prior knowledge concerning the trajectory needed for the angular momentum of the cluster in order to change the orientation of the satellite, and the resulting trajectory is subsequently used as a preferred trajectory, being delivered in an open loop in the context of an attitude control method associating an open loop control with the closed loop control of the above-cited French patent application.
  • the invention also makes it possible to perform guidance by implementing a memorized relationship. Under such circumstances, prior to performing a steering maneuver, it is advantageous to determine a final configuration that is remote from singularities, given knowledge of the attitude maneuver that is to be performed by the satellite, and then to control attitude by associating an open loop control method with a closed loop control method, as described in French patent application No. FR 98/14548.
  • the method is implemented in advance on the basis of prior knowledge of the maneuver to be performed, and the satellite attitude maneuver is performed by using the trajectory obtained in an open loop in an attitude control method associating an open loop control with a closed loop control so as to ensure that the satellite reaches the desired final attitude.
  • the invention also provides an apparatus for controlling attitude enabling the above-described method to be implemented, the apparatus comprising:
  • a cluster of at least four gyroscopic actuators having respective spinners mounted on gimbals steerable about axes parallel to one or the other of only two different directions and fixed relative to the satellite, thus forming at least two groups of actuators of which one group has at least two actuators each;
  • calculation means for calculating the control torque needed to comply with a reference attitude for the satellite, and for determining means for controlling the precession speeds of the gimbals to deliver control torque by means of a local linearization method based on pseudo-inversion of the Jacobean matrix of the function associating the orientations of the actuator gimbals with the cluster angular momentum.
  • FIG. 1 is a perspective diagram showing one possible disposition for four 1-axis gyroscopic actuators, of a cluster using an advantageous architecture, the actuators being shown with identical gimbal orientations;
  • FIG. 2 is a diagram showing the parameters involved in analytic calculation of possible correspondences between the looked-for angular momentum H and the angular positions ⁇ of the gimbals;
  • FIG. 3 is a diagram showing the parameters involved in the analytic calculation when redundancy has been lost because an actuator has failed.
  • FIG. 1 shows a cluster of four identical gyroscopic actuators 10 a , 10 b , 10 c , and 10 d , each having a spinner 12 mounted on gimbals l 4 so as to be capable of spinning about a respective axis 16 .
  • a motor (not shown) serves to keep each spinner spinning, generally at constant speed.
  • Each gimbal is mounted on the platform of the satellite (not shown) so as to be capable of turning about an axis 18 orthogonal to the spin axis 16 .
  • Each of the gimbals is provided with a motor 22 enabling the gimbals to be turned about the respective axis 18 .
  • An angle sensor such as 23 provides information about the orientation of the gimbals, and thus about the plane of the spinner 12 .
  • the satellite is maintained in a reference attitude in an inertial frame of reference by an attitude control system of a general structure that can be of known type.
  • the system includes a calculation and control member 26 which stores reference orientations received by a terrestrial link transceiver 28 and receives signals 30 coming from orientation sensors such as star sensors and terrestrial horizon sensors. This member 26 controls power circuits 32 powering the motors 22 .
  • the time constant of this system is generally relatively long, being a few seconds to several tens of seconds.
  • the axes 18 have one or the other of only two different orientations.
  • the axes of the gimbals of actuators 10 a and 10 b are disposed perpendicularly to a common plane P 1 .
  • the axes of the gimbals of actuators 10 c and 10 d are likewise parallel to each other and disposed perpendicularly to a plane P 2 which intercepts the plane P 1 along an axis on or parallel to the x axis.
  • the planes P 1 and P 2 are both at an angle ⁇ with the axis y.
  • the overall angular momentum of the cluster of actuators is designated H below and the components of H in the planes P 1 and P 2 are designated, respectively, H 1 and H 2 , with u 1 and u 2 designating the axes perpendicular to x and contained respectively in the planes P 1 and P 2 .
  • actuators shown in FIG. 1 (and any other actuator configuration in which the axes of the gimbals are parallel in pairs) has the advantage of enabling correspondence between the angular momentum H and the angular positions 1 , 2 , 3 , and 4 of the gimbals to be expressed analytically, e.g. being expressed relative to the disposition shown in FIG. 1 .
  • the architecture adopted enables the component Hx to be shared between the two pairs of actuators 10 a & 10 b and 10 c & 10 d with one degree of freedom, except on the surface of the angular momentum envelope where the component presents a singularity.
  • the vector H may be resolved into two vectors H 1 and H 2 as follows:
  • H 2 Hu 2 +Hx 2 .
  • this selection is performed by seeking a cluster configuration that is remote from singular configurations, by adopting one of the above-mentioned criteria.
  • the invention is applicable to various methods of controlling attitude and steering in application of a predetermined relationship to be satisfied over a long period, for example several days.
  • the invention also lends itself to predictive steering based on a local steering algorithm, following a trajectory calculated in advance, stored in memory, and injected into an open loop in the calculation means 34 .
  • a trajectory that is optimal in terms of controllability, making it possible at all times to obtain a specified angular speed profile, or at least to pass via specified speed profiles.
  • An additional advantage of the configuration is that the geometry remains simple in the event of one of the actuators failing, thus making it possible to conserve a capacity to control attitude while degrading agility to a small extent only (25% about the axis x).
  • the loss of agility about the axis x, where capacity is at a maximum, amounts to going from 4h to 3h. Along one of the axes u the maximum loss of agility is 50%. However, very often, the axis having the greatest requirements for agility is the axis x, where degradation is least.
  • the criterion for ensuring a configuration of gimbal angles that is remote from a singular configuration can be determined by using one of the following parameters: the norm of the vector product of the two angular momentum vectors carried by the two actuators; the absolute value of the sine of the angle formed by the two angular momentum vectors carried by the two actuators; the area of a triangle having two sides constituted by the angular momentum vectors carried by the two actuators, their origins coinciding; and the difference between unity and the absolute value of the scalar product of the two angular momentum vectors carried by the two actuators.
  • the remoteness between a configuration of gimbal angles and a singular configuration can be determined in particular by using one of the following parameters: the sum of the three vector products between pairs of angular momentum vectors carried by the three actuators and the area of the triangle whose vertices coincide with the vertices of the angular momentum vectors carried by the three actuators, their origins coinciding.

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  • Engineering & Computer Science (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
  • Variable-Direction Aerials And Aerial Arrays (AREA)
  • Radio Relay Systems (AREA)
US10/482,031 2001-06-26 2002-06-24 Method and device for controlling satellite attitude and steering using a gyrodyne cluster Expired - Lifetime US7171290B2 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR01/08409 2001-06-26
FR0108409A FR2826470B1 (fr) 2001-06-26 2001-06-26 Procede et dispositif de pilotage de l'attitude et de guidage d'un satellite par grappe de gyrodynes
PCT/FR2002/002181 WO2003001311A1 (fr) 2001-06-26 2002-06-24 Procede et dispositif de pilotage de l'attitude et de guidage d'un satellite par grappe de gyrodynes

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US7171290B2 true US7171290B2 (en) 2007-01-30

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EP (1) EP1407335B1 (ja)
JP (1) JP4307247B2 (ja)
AT (1) ATE341783T1 (ja)
CA (1) CA2452250C (ja)
DE (1) DE60215174T2 (ja)
ES (1) ES2274088T3 (ja)
FR (1) FR2826470B1 (ja)
IL (2) IL159573A0 (ja)
WO (1) WO2003001311A1 (ja)

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US20080105787A1 (en) * 2006-09-29 2008-05-08 Honeywell International, Inc. Hierarchical strategy for singularity avoidance in arrays of control moment gyroscopes
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US20100006705A1 (en) * 2006-10-23 2010-01-14 Astrium Sas Control Moment Gyro and Device for Assembly Thereof
US20100152953A1 (en) * 2008-12-17 2010-06-17 Honeywell International Inc. Methods and systems for efficiently orienting an agile vehicle using a gyroscope array
US20110101167A1 (en) * 2009-11-03 2011-05-05 Honeywell International Inc. Methods and systems for imposing a momentum boundary while reorienting an agile vehicle with control moment gyroscopes
US8346538B2 (en) 2010-05-25 2013-01-01 Honeywell International Inc. Methods and systems for reducing angular velocity using a gyroscope array
US9199746B2 (en) 2009-05-19 2015-12-01 University Of Florida Research Foundation, Inc. Attitude control system for small satellites
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US7693619B2 (en) * 2005-11-30 2010-04-06 Honeywell International Inc. Method and system for controlling sets of collinear control moment gyroscopes with offset determination without attitude trajectory of spacecraft
US20070124032A1 (en) * 2005-11-30 2007-05-31 Honeywell International, Inc. Method and system for controlling sets of collinear control moment gyroscopes
US20080105787A1 (en) * 2006-09-29 2008-05-08 Honeywell International, Inc. Hierarchical strategy for singularity avoidance in arrays of control moment gyroscopes
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US8052093B2 (en) 2006-10-23 2011-11-08 Astrium Sas Control moment gyro and device for assembly thereof
US20100006705A1 (en) * 2006-10-23 2010-01-14 Astrium Sas Control Moment Gyro and Device for Assembly Thereof
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US8209070B2 (en) * 2008-12-17 2012-06-26 Honeywell International Inc. Methods and systems for efficiently orienting an agile vehicle using a gyroscope array
US20100152953A1 (en) * 2008-12-17 2010-06-17 Honeywell International Inc. Methods and systems for efficiently orienting an agile vehicle using a gyroscope array
US9199746B2 (en) 2009-05-19 2015-12-01 University Of Florida Research Foundation, Inc. Attitude control system for small satellites
US8014911B2 (en) * 2009-11-03 2011-09-06 Honeywell International Inc. Methods and systems for imposing a momentum boundary while reorienting an agile vehicle with control moment gyroscopes
US20110101167A1 (en) * 2009-11-03 2011-05-05 Honeywell International Inc. Methods and systems for imposing a momentum boundary while reorienting an agile vehicle with control moment gyroscopes
US8346538B2 (en) 2010-05-25 2013-01-01 Honeywell International Inc. Methods and systems for reducing angular velocity using a gyroscope array
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CA2452250A1 (fr) 2003-01-03
EP1407335B1 (fr) 2006-10-04
JP4307247B2 (ja) 2009-08-05
WO2003001311A1 (fr) 2003-01-03
FR2826470A1 (fr) 2002-12-27
IL159573A0 (en) 2004-06-01
ES2274088T3 (es) 2007-05-16
DE60215174T2 (de) 2007-08-23
ATE341783T1 (de) 2006-10-15
EP1407335A1 (fr) 2004-04-14
US20040167683A1 (en) 2004-08-26
CA2452250C (fr) 2014-12-23
DE60215174D1 (de) 2006-11-16
IL159573A (en) 2008-11-03
FR2826470B1 (fr) 2003-09-19
JP2004535324A (ja) 2004-11-25

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